CAJ | 학술논문

采用显式求解法计算最大外载荷的极大值，提出了一种基于拉格朗日函数的比例法来计算最大外载荷的极小值。为引入构件重力和惯性力的影响，提出等效驱动力的概念，在此基础上将并联机构用于运动模拟台时的承载能力分为静态承载能力和动态承载能力，并基于比例法给出承载能力的计算过程。最后以六自由度并联机构为例，分析了位姿对承载能力和承载性能指标的影响。研究结果为重载并联机构的优化设计和性能评价提供了参考。
채용현식구해법계산최대외재하적겁대치，제출료일충기우랍격랑일함수적비례법래계산최대외재하적겁소치。위인입구건중력화관성력적영향，제출등효구동력적개념，재차기출상장병련궤구용우운동모의태시적승재능력분위정태승재능력화동태승재능력，병기우비례법급출승재능력적계산과정。최후이륙자유도병련궤구위례，분석료위자대승재능력화승재성능지표적영향。연구결과위중재병련궤구적우화설계화성능평개제공료삼고。
The explicit method was used to calculate the maximum extreme of the maximum exter-nal load.To get the minimum extreme of the maximum external load,a scaling foctor method was presented based on Lagrange function.Taking into account the effects of components’gravities and inertial forces,the concept of equivalent driving force was presented.Based on this concept,the static carrying capacity and dynamic carrying capacity of parallel mechanism used as motion simulation plat-form was discussed.The calculation process was put forward based on scaling foctor method.Using a six DOF mechanism as an example,the effects of mechasim poses on carrying capacity and carrying performance indexes was analyzed.A reference to guide and evaluate the design and performance of heavy load parallel mechanism is put forward.